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<div class="title">disparity_map_converter.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2014-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#ifndef PCL_DISPARITY_MAP_CONVERTER_H_</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#define PCL_DISPARITY_MAP_CONVERTER_H_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#include &lt;cstring&gt;</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;{</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classpcl_1_1_disparity_map_converter.html">   77</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_disparity_map_converter.html">DisparityMapConverter</a></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  {</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <a class="code" href="classpcl_1_1_disparity_map_converter.html#a6d973636596c8edc698d813e804e983d">DisparityMapConverter</a> ();</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_disparity_map_converter.html#a63ea2a56e304a054537ebde80d5bf2d7">~DisparityMapConverter</a> ();</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <a class="code" href="classpcl_1_1_disparity_map_converter.html#a638fb7062f2aa5d9d9cceb1083411311">setImageCenterX</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> center_x);</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <a class="code" href="classpcl_1_1_disparity_map_converter.html#a31c00974045edaaa888f7fbfe9c7ac39">getImageCenterX</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;      <a class="code" href="classpcl_1_1_disparity_map_converter.html#af66899bd1387ba76e5f78e3c628984ae">setImageCenterY</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> center_y);</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      <a class="code" href="classpcl_1_1_disparity_map_converter.html#a228f7b55d3ba292457699662b2217fb9">getImageCenterY</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      <a class="code" href="classpcl_1_1_disparity_map_converter.html#ae70b419c3c08fd95882b8302d024d2fb">setFocalLength</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> focal_length);</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      <a class="code" href="classpcl_1_1_disparity_map_converter.html#ad84213ef839e517e957d47ec4ce14759">getFocalLength</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      <a class="code" href="classpcl_1_1_disparity_map_converter.html#ac8c4997d003903a930fda74fc0aea965">setBaseline</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> baseline);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      <a class="code" href="classpcl_1_1_disparity_map_converter.html#a044323d282bd35210e28ed673db6c49a">getBaseline</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      <a class="code" href="classpcl_1_1_disparity_map_converter.html#aae49b8ec651f7f34fa4d0e3962963cc1">setDisparityThresholdMin</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> disparity_threshold_min);</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;      <a class="code" href="classpcl_1_1_disparity_map_converter.html#ab170773e3b0563cafedcde4f32914ded">getDisparityThresholdMin</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      <a class="code" href="classpcl_1_1_disparity_map_converter.html#a24aa6a049e68538d5f411a4aaacae549">setDisparityThresholdMax</a> (<span class="keyword">const</span> <span class="keywordtype">float</span> disparity_threshold_max);</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span></div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      <a class="code" href="classpcl_1_1_disparity_map_converter.html#aae6fb6826c55ba97d01c5787e9040b85">getDisparityThresholdMax</a> () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      <a class="code" href="classpcl_1_1_disparity_map_converter.html#a3ad025fb1ad289cb5fb78d1db4fca872">setImage</a> (<span class="keyword">const</span> pcl::PointCloud&lt;pcl::RGB&gt;::ConstPtr &amp;image);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      pcl::PointCloud&lt;RGB&gt;::Ptr</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      <a class="code" href="classpcl_1_1_disparity_map_converter.html#a48c4e5cbd50a54027784ddfeb2c567c1">getImage</a> ();</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160; </div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      <a class="code" href="classpcl_1_1_disparity_map_converter.html#a50f9d0bc884df90e7ed8ce6df23183da">loadDisparityMap</a> (<span class="keyword">const</span> std::string &amp;file_name);</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      <a class="code" href="classpcl_1_1_disparity_map_converter.html#a50f9d0bc884df90e7ed8ce6df23183da">loadDisparityMap</a> (<span class="keyword">const</span> std::string &amp;file_name, <span class="keyword">const</span> <span class="keywordtype">size_t</span> width, <span class="keyword">const</span> <span class="keywordtype">size_t</span> height);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      <a class="code" href="classpcl_1_1_disparity_map_converter.html#aa976c66c117ea7db5706748201458c94">setDisparityMap</a> (<span class="keyword">const</span> std::vector&lt;float&gt; &amp;disparity_map);</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      <a class="code" href="classpcl_1_1_disparity_map_converter.html#aa976c66c117ea7db5706748201458c94">setDisparityMap</a> (<span class="keyword">const</span> std::vector&lt;float&gt; &amp;disparity_map, </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">size_t</span> width, <span class="keyword">const</span> <span class="keywordtype">size_t</span> height);</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;      std::vector&lt;float&gt;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;      <a class="code" href="classpcl_1_1_disparity_map_converter.html#a126fa553c8e5bcccbba78840f89a5b8f">getDisparityMap</a> ();</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      <a class="code" href="classpcl_1_1_disparity_map_converter.html#a50bcf3409693dda241f97378b240c355">compute</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;out_cloud);</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      <a class="code" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a> </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      <a class="code" href="classpcl_1_1_disparity_map_converter.html#a30d77dd8ed5925cc4d1899b37cd65ea6">translateCoordinates</a> (<span class="keywordtype">size_t</span> row, <span class="keywordtype">size_t</span> column, <span class="keywordtype">float</span> disparity) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno"><a class="line" href="classpcl_1_1_disparity_map_converter.html#aec5dc0209f9a1ea3a08b312e1e84a558">  227</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_disparity_map_converter.html#aec5dc0209f9a1ea3a08b312e1e84a558">center_x_</a>;</div>
<div class="line"><a name="l00229"></a><span class="lineno"><a class="line" href="classpcl_1_1_disparity_map_converter.html#a886ef972cb3e6e7d39f5a2895c794a5a">  229</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_disparity_map_converter.html#a886ef972cb3e6e7d39f5a2895c794a5a">center_y_</a>;</div>
<div class="line"><a name="l00231"></a><span class="lineno"><a class="line" href="classpcl_1_1_disparity_map_converter.html#a0d9e7681afd08ef4e0dbdf4be50affe6">  231</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_disparity_map_converter.html#a0d9e7681afd08ef4e0dbdf4be50affe6">focal_length_</a>;</div>
<div class="line"><a name="l00233"></a><span class="lineno"><a class="line" href="classpcl_1_1_disparity_map_converter.html#a3abd2e11c883c42ad450c7021e03288e">  233</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_disparity_map_converter.html#a3abd2e11c883c42ad450c7021e03288e">baseline_</a>;</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      </div>
<div class="line"><a name="l00236"></a><span class="lineno"><a class="line" href="classpcl_1_1_disparity_map_converter.html#aab60cab837c7b9ed6f2d6299fbe06fc7">  236</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_disparity_map_converter.html#aab60cab837c7b9ed6f2d6299fbe06fc7">is_color_</a>;</div>
<div class="line"><a name="l00238"></a><span class="lineno"><a class="line" href="classpcl_1_1_disparity_map_converter.html#a18fb3832e663199324e4ee2ae5f21aed">  238</a></span>&#160;      pcl::PointCloud&lt;pcl::RGB&gt;::ConstPtr <a class="code" href="classpcl_1_1_disparity_map_converter.html#a18fb3832e663199324e4ee2ae5f21aed">image_</a>;</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160; </div>
<div class="line"><a name="l00241"></a><span class="lineno"><a class="line" href="classpcl_1_1_disparity_map_converter.html#a038c258b285ea1ff1675c8010971073d">  241</a></span>&#160;      std::vector&lt;float&gt; <a class="code" href="classpcl_1_1_disparity_map_converter.html#a038c258b285ea1ff1675c8010971073d">disparity_map_</a>;</div>
<div class="line"><a name="l00243"></a><span class="lineno"><a class="line" href="classpcl_1_1_disparity_map_converter.html#a2aabe11495a4fa10355858c697419328">  243</a></span>&#160;      <span class="keywordtype">size_t</span> <a class="code" href="classpcl_1_1_disparity_map_converter.html#a2aabe11495a4fa10355858c697419328">disparity_map_width_</a>;</div>
<div class="line"><a name="l00245"></a><span class="lineno"><a class="line" href="classpcl_1_1_disparity_map_converter.html#a8165e38654e65342ffc7983a935ac85a">  245</a></span>&#160;      <span class="keywordtype">size_t</span> <a class="code" href="classpcl_1_1_disparity_map_converter.html#a8165e38654e65342ffc7983a935ac85a">disparity_map_height_</a>;</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
<div class="line"><a name="l00248"></a><span class="lineno"><a class="line" href="classpcl_1_1_disparity_map_converter.html#af5a0f48dc13af275ae6b28bee7d17c51">  248</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_disparity_map_converter.html#af5a0f48dc13af275ae6b28bee7d17c51">disparity_threshold_min_</a>;</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      <span class="keywordtype">float</span> disparity_threshold_max_;</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;  };</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160; </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;}</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160; </div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;<span class="preprocessor">#include &lt;pcl/stereo/impl/disparity_map_converter.hpp&gt;</span></div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160; </div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_DISPARITY_MAP_CONVERTER_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html">pcl::DisparityMapConverter</a></div><div class="ttdoc">Compute point cloud from the disparity map.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.h:78</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_a038c258b285ea1ff1675c8010971073d"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#a038c258b285ea1ff1675c8010971073d">pcl::DisparityMapConverter::disparity_map_</a></div><div class="ttdeci">std::vector&lt; float &gt; disparity_map_</div><div class="ttdoc">Vector for the disparity map.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.h:241</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_a044323d282bd35210e28ed673db6c49a"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#a044323d282bd35210e28ed673db6c49a">pcl::DisparityMapConverter::getBaseline</a></div><div class="ttdeci">float getBaseline() const</div><div class="ttdoc">Get baseline.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.hpp:110</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_a0d9e7681afd08ef4e0dbdf4be50affe6"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#a0d9e7681afd08ef4e0dbdf4be50affe6">pcl::DisparityMapConverter::focal_length_</a></div><div class="ttdeci">float focal_length_</div><div class="ttdoc">Focal length.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.h:231</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_a126fa553c8e5bcccbba78840f89a5b8f"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#a126fa553c8e5bcccbba78840f89a5b8f">pcl::DisparityMapConverter::getDisparityMap</a></div><div class="ttdeci">std::vector&lt; float &gt; getDisparityMap()</div><div class="ttdoc">Get the disparity map.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.hpp:225</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_a18fb3832e663199324e4ee2ae5f21aed"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#a18fb3832e663199324e4ee2ae5f21aed">pcl::DisparityMapConverter::image_</a></div><div class="ttdeci">pcl::PointCloud&lt; pcl::RGB &gt;::ConstPtr image_</div><div class="ttdoc">Color image of the scene.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.h:238</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_a228f7b55d3ba292457699662b2217fb9"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#a228f7b55d3ba292457699662b2217fb9">pcl::DisparityMapConverter::getImageCenterY</a></div><div class="ttdeci">float getImageCenterY() const</div><div class="ttdoc">Get y-coordinate of the image center.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.hpp:86</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_a24aa6a049e68538d5f411a4aaacae549"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#a24aa6a049e68538d5f411a4aaacae549">pcl::DisparityMapConverter::setDisparityThresholdMax</a></div><div class="ttdeci">void setDisparityThresholdMax(const float disparity_threshold_max)</div><div class="ttdoc">Set max disparity threshold.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.hpp:129</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_a2aabe11495a4fa10355858c697419328"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#a2aabe11495a4fa10355858c697419328">pcl::DisparityMapConverter::disparity_map_width_</a></div><div class="ttdeci">size_t disparity_map_width_</div><div class="ttdoc">X-size of the disparity map.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.h:243</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_a30d77dd8ed5925cc4d1899b37cd65ea6"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#a30d77dd8ed5925cc4d1899b37cd65ea6">pcl::DisparityMapConverter::translateCoordinates</a></div><div class="ttdeci">PointXYZ translateCoordinates(size_t row, size_t column, float disparity) const</div><div class="ttdoc">Translate point from image coordinates and disparity to 3D-coordinates</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.hpp:290</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_a31c00974045edaaa888f7fbfe9c7ac39"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#a31c00974045edaaa888f7fbfe9c7ac39">pcl::DisparityMapConverter::getImageCenterX</a></div><div class="ttdeci">float getImageCenterX() const</div><div class="ttdoc">Get x-coordinate of the image center.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.hpp:74</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_a3abd2e11c883c42ad450c7021e03288e"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#a3abd2e11c883c42ad450c7021e03288e">pcl::DisparityMapConverter::baseline_</a></div><div class="ttdeci">float baseline_</div><div class="ttdoc">Baseline.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.h:233</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_a3ad025fb1ad289cb5fb78d1db4fca872"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#a3ad025fb1ad289cb5fb78d1db4fca872">pcl::DisparityMapConverter::setImage</a></div><div class="ttdeci">void setImage(const pcl::PointCloud&lt; pcl::RGB &gt;::ConstPtr &amp;image)</div><div class="ttdoc">Set an image, that will be used for coloring of the output cloud.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.hpp:142</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_a48c4e5cbd50a54027784ddfeb2c567c1"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#a48c4e5cbd50a54027784ddfeb2c567c1">pcl::DisparityMapConverter::getImage</a></div><div class="ttdeci">pcl::PointCloud&lt; RGB &gt;::Ptr getImage()</div><div class="ttdoc">Get the image, that is used for coloring of the output cloud.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.hpp:155</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_a50bcf3409693dda241f97378b240c355"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#a50bcf3409693dda241f97378b240c355">pcl::DisparityMapConverter::compute</a></div><div class="ttdeci">virtual void compute(PointCloud &amp;out_cloud)</div><div class="ttdoc">Compute the output cloud.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.hpp:231</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_a50f9d0bc884df90e7ed8ce6df23183da"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#a50f9d0bc884df90e7ed8ce6df23183da">pcl::DisparityMapConverter::loadDisparityMap</a></div><div class="ttdeci">bool loadDisparityMap(const std::string &amp;file_name)</div><div class="ttdoc">Load the disparity map.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.hpp:163</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_a638fb7062f2aa5d9d9cceb1083411311"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#a638fb7062f2aa5d9d9cceb1083411311">pcl::DisparityMapConverter::setImageCenterX</a></div><div class="ttdeci">void setImageCenterX(const float center_x)</div><div class="ttdoc">Set x-coordinate of the image center.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.hpp:68</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_a63ea2a56e304a054537ebde80d5bf2d7"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#a63ea2a56e304a054537ebde80d5bf2d7">pcl::DisparityMapConverter::~DisparityMapConverter</a></div><div class="ttdeci">virtual ~DisparityMapConverter()</div><div class="ttdoc">Empty destructor.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.hpp:63</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_a6d973636596c8edc698d813e804e983d"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#a6d973636596c8edc698d813e804e983d">pcl::DisparityMapConverter::DisparityMapConverter</a></div><div class="ttdeci">DisparityMapConverter()</div><div class="ttdoc">DisparityMapConverter constructor.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.hpp:49</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_a8165e38654e65342ffc7983a935ac85a"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#a8165e38654e65342ffc7983a935ac85a">pcl::DisparityMapConverter::disparity_map_height_</a></div><div class="ttdeci">size_t disparity_map_height_</div><div class="ttdoc">Y-size of the disparity map.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.h:245</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_a886ef972cb3e6e7d39f5a2895c794a5a"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#a886ef972cb3e6e7d39f5a2895c794a5a">pcl::DisparityMapConverter::center_y_</a></div><div class="ttdeci">float center_y_</div><div class="ttdoc">Y-coordinate of the image center.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.h:229</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_aa976c66c117ea7db5706748201458c94"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#aa976c66c117ea7db5706748201458c94">pcl::DisparityMapConverter::setDisparityMap</a></div><div class="ttdeci">void setDisparityMap(const std::vector&lt; float &gt; &amp;disparity_map)</div><div class="ttdoc">Set the disparity map.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.hpp:207</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_aab60cab837c7b9ed6f2d6299fbe06fc7"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#aab60cab837c7b9ed6f2d6299fbe06fc7">pcl::DisparityMapConverter::is_color_</a></div><div class="ttdeci">bool is_color_</div><div class="ttdoc">Is color image is set.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.h:236</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_aae49b8ec651f7f34fa4d0e3962963cc1"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#aae49b8ec651f7f34fa4d0e3962963cc1">pcl::DisparityMapConverter::setDisparityThresholdMin</a></div><div class="ttdeci">void setDisparityThresholdMin(const float disparity_threshold_min)</div><div class="ttdoc">Set min disparity threshold.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.hpp:116</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_aae6fb6826c55ba97d01c5787e9040b85"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#aae6fb6826c55ba97d01c5787e9040b85">pcl::DisparityMapConverter::getDisparityThresholdMax</a></div><div class="ttdeci">float getDisparityThresholdMax() const</div><div class="ttdoc">Get max disparity threshold.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.hpp:136</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_ab170773e3b0563cafedcde4f32914ded"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#ab170773e3b0563cafedcde4f32914ded">pcl::DisparityMapConverter::getDisparityThresholdMin</a></div><div class="ttdeci">float getDisparityThresholdMin() const</div><div class="ttdoc">Get min disparity threshold.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.hpp:123</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_ac8c4997d003903a930fda74fc0aea965"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#ac8c4997d003903a930fda74fc0aea965">pcl::DisparityMapConverter::setBaseline</a></div><div class="ttdeci">void setBaseline(const float baseline)</div><div class="ttdoc">Set baseline.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.hpp:104</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_ad84213ef839e517e957d47ec4ce14759"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#ad84213ef839e517e957d47ec4ce14759">pcl::DisparityMapConverter::getFocalLength</a></div><div class="ttdeci">float getFocalLength() const</div><div class="ttdoc">Get focal length.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.hpp:98</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_ae70b419c3c08fd95882b8302d024d2fb"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#ae70b419c3c08fd95882b8302d024d2fb">pcl::DisparityMapConverter::setFocalLength</a></div><div class="ttdeci">void setFocalLength(const float focal_length)</div><div class="ttdoc">Set focal length.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.hpp:92</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_aec5dc0209f9a1ea3a08b312e1e84a558"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#aec5dc0209f9a1ea3a08b312e1e84a558">pcl::DisparityMapConverter::center_x_</a></div><div class="ttdeci">float center_x_</div><div class="ttdoc">X-coordinate of the image center.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.h:227</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_af5a0f48dc13af275ae6b28bee7d17c51"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#af5a0f48dc13af275ae6b28bee7d17c51">pcl::DisparityMapConverter::disparity_threshold_min_</a></div><div class="ttdeci">float disparity_threshold_min_</div><div class="ttdoc">Thresholds of the disparity.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.h:248</div></div>
<div class="ttc" id="aclasspcl_1_1_disparity_map_converter_html_af66899bd1387ba76e5f78e3c628984ae"><div class="ttname"><a href="classpcl_1_1_disparity_map_converter.html#af66899bd1387ba76e5f78e3c628984ae">pcl::DisparityMapConverter::setImageCenterY</a></div><div class="ttdeci">void setImageCenterY(const float center_y)</div><div class="ttdoc">Set y-coordinate of the image center.</div><div class="ttdef"><b>Definition:</b> disparity_map_converter.hpp:80</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates. (SSE friendly)</div><div class="ttdef"><b>Definition:</b> point_types.hpp:282</div></div>
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